Tremor stabilizing system for handheld devices

Abstract

A handheld device for canceling unintentional muscle movement. The device includes a base comprising a handgrip for a user to hold, a gripping element linked to the base for releasably connecting the handheld device to an object, a sensor that detects movement of the base, a controller linked to the sensor, and at least one actuator that operates under control of the controller to cause movement of the gripping element in a direction that at least partially counteracts the detected movement of the base.

1. A handheld device for canceling unintentional muscle movement, comprising:
 a base comprising a handgrip for a user to hold; 
 a gripping element linked to the base for releasably connecting the handheld device to an object; 
 a sensor configured to detect movement of the base; 
 a controller linked to the sensor; and 
 at least one actuator configured to operate under control of the controller and configured to cause movement of the gripping element in a direction that is at least partially counteractive to the detected movement of the base, wherein the actuator(s) comprises at least one shape memory alloy (SMA) component configured to control movement of the gripping element along a first axis and at least one other SMA component configured to control movement of the gripping element along a second axis that is orthogonal to the first axis. 
 
     
     
       2. The handheld device of  claim 1 , wherein the object connects to the gripping element along a third axis and wherein the actuator(s) are configured to cause the movement of the gripping element within a plane that is normal to the third axis. 
     
     
       3. The handheld device of  claim 2 , wherein the actuator(s) are configured to also cause movement of the gripping element along the third axis. 
     
     
       4. The handheld device of  claim 1 , wherein the object is received within the gripping element along a third axis that is orthogonal to the first and second axes. 
     
     
       5. The handheld device of  claim 1 , further comprising coolant in contact with the SMA components. 
     
     
       6. The handheld device of  claim 1 , further comprising a power source configured to be used by the controller to selectively heat the SMA components. 
     
     
       7. The handheld device of  claim 1 , wherein the SMA components each comprise at least one SMA wire, spring, torque tube, thin film, sheet, or cable. 
     
     
       8. The handheld device of  claim 1 , further comprising an outer cylindrical housing connected to the base, and wherein the gripping element comprises an inner cylindrical housing mounted within the outer cylindrical housing and being pivotable relative to the outer cylindrical housing. 
     
     
       9. The handheld device of  claim 8 , further comprising a shaft interconnecting the actuator(s) with the gripping element, the actuator(s) configured to pivot the gripping element within the outer cylindrical housing by being configured to cause movement of the shaft in a plane normal to an axis of the outer housing. 
     
     
       10. A handheld device for canceling unintentional muscle movement, comprising:
 a base comprising a handgrip for a user to hold; 
 a gripping element linked to the base for releasably connecting the handheld device to an object that extends away from the base at least generally along an axis; 
 a first shape memory alloy (SMA) wire configured to actuate the gripping element in a first direction along an x-axis; 
 a second SMA wire configured to actuate the gripping element in a second direction along the x-axis; 
 a third SMA wire configured to actuate the gripping element in a first direction along a y-axis; 
 a fourth SMA wire configured to actuate the gripping element in a second direction along the y-axis, wherein the gripping element moves in at least two dimensions within a plane defined by the x-axis and y-axis and substantially normal to the axis of the object; 
 a power source electrically connected to the SMA wires for selectively providing current to the SMA wires; 
 a sensor configured to detect movement of the base; 
 a controller linked to the power source and the sensor, wherein the controller is configured to operate in response to the sensor and is configured to selectively control the flow of current from the power source to the SMA wires; and 
 a cooling system having coolant that cools at least some of the SMA wires. 
 
     
     
       11. The handheld device of  claim 10 , wherein the gripping element further comprises a first element providing x-axis movement, wherein the first element is configured to be acted on by the first SMA wire and the second SMA wire. 
     
     
       12. The handheld device of  claim 11 , wherein the first SMA wire and the second SMA wire are in an antagonistic configuration. 
     
     
       13. The handheld device of  claim 11 , wherein the gripping element further comprises a second element configured to provide y-axis movement, wherein the second element is configured to be acted on by the third SMA wire and the fourth SMA wire. 
     
     
       14. The handheld device of  claim 13 , wherein the third SMA wire and the fourth SMA wire are in an antagonistic configuration. 
     
     
       15. The handheld device of  claim 13 , wherein the first element and the second element are oriented substantially parallel to each other. 
     
     
       16. A handheld device for canceling unintentional muscle movement, comprising:
 a base comprising a handgrip for a user to hold; 
 a gripping element linked to the base for releasably connecting the handheld device to an object that extends away from the base at least generally along an axis; 
 a stabilizing assembly between the base and the gripping element, comprising: 
 a first slide linked to the gripping element for adjusting the gripping element in two directions along an x-axis; 
 a second slide linked to the gripping element for adjusting the gripping element in two directions along a y-axis; 
 a housing assembly supporting the first slide and the second slide for permitting the first slide and second slide to travel a predetermined distance along their respective axes, wherein the adjustment of the first slide and the adjustment of the second slide is substantially parallel to each other; 
 a first shape memory alloy (SMA) wire configured to actuate the first slide of the stabilizing assembly in a first direction along an x-axis; 
 a second SMA wire configured to actuate the first slide of the stabilizing assembly in a second direction along the x-axis; 
 a third SMA wire configured to actuate the second slide of the stabilizing assembly in a first direction along a y-axis; 
 a fourth SMA wire configured to actuate the second slide of the stabilizing assembly in a second direction along the y-axis, wherein the object gripped by the gripping element is positioned in a direction substantially normal to a plane defined by the x-axis and the y-axis; 
 a power source electrically connected to the SMA wires for selectively providing current to the SMA wires; 
 a sensor configured to detect movement of the base; and 
 a controller linked to the power source and the sensor, wherein the controller is configured to operate in response to the sensor and is configured to selectively control the flow of current from the power source to the SMA wires. 
 
     
     
       17. The handheld device of  claim 16 , wherein the first SMA wire and the second SMA wire are in an antagonistic configuration. 
     
     
       18. The handheld device of  claim 17 , wherein the third SMA wire and the fourth SMA wire are in an antagonistic configuration. 
     
     
       19. The handheld device of  claim 16 , further comprising a cooling system for providing coolant to cool the SMA wires. 
     
     
       20. A handheld device for canceling unintentional muscle movement, comprising:
 a base comprising a handgrip for a user to hold; 
 a gripping element linked to the base for releasably connecting the handheld device to an object; 
 a sensor configured to detect movement of the base; 
 a controller linked to the sensor; and 
 at least one actuator configured to operate under control of the controller and configured to cause movement of the gripping element in a direction that is at least partially counteractive to the detected movement of the base, wherein the actuator(s) comprises at least one smart material actuation component configured to control movement of the gripping element along a first axis and at least one other smart material actuation component configured to control movement of the gripping element along a second axis that is orthogonal to the first axis. 
 
     
     
       21. The handheld device of  claim 20 , wherein the actuator(s) comprises at least one shape memory alloy, piezoelectric, magnetostrictive, electrostrictive, dielectric elastomer, or electro-active polymer actuator.